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"I looked at him and said, 'you're going to have to tell me to stop. You must order me to stop. You're going to have to make that decision'.

"He said, 'sir, you have done your best. We do need to stop'."

The Tory MP for Bournemouth East told how he ignored fears of a second terror attack as he went to help.

Mr Ellwood told the court: "My brother was killed in a secondary attack in Bali (a 2002 terrorist bombing in Indonesia) ... so I was very aware of that.

"I was concerned about what would happen if things were to ratchet up, but my immediate concern was that we had somebody who was clearly badly bleeding and needed assistance."

During his rampage, attacker Khalid Masood, 52, killed Kurt Cochran, 54, Leslie Rhodes, 75, Aysha Frade, 44, and Andreea Cristea, 31, when he ploughed an SUV into pedestrians on Westminster Bridge, before stabbing Pc Palmer to death at the gates to the Palace of Westminster.

Mr Ellwood said he first became aware that something was wrong when he heard a "significant crash" followed by "screams" when the carnage unfolded on March 22 last year.

"These were not screams of pain, they were screams of shock, which is slightly different," he said.

Mr Ellwood said he would have been behind Masood as he launched the attack if he had taken his usual route to Parliament.